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<mujoco> <worldbody> <light diffuse=".5 .5 .5" pos="0 0 3" dir="0 0 -1"/> <geom type="plane" size="1 1 0.1" rgba=".9 0 0 1"/> <body pos="0 0 1"> <joint type="free"/> <geom type="box" size=".1 .2 .3" rgba="0 .9 0 1"/> </body> </worldbody> </mujoco>
